Re: stereo example

Posted by matlabbe on Oct 20, 2024; 5:14am
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10587.html

This error may be caused by a compilation issue (see also this post) with Eigen:

[FATAL] (2024-10-18 20:16:12) OptimizerG2O.cpp:1906::rtabmap::OptimizerG2O::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met! 

You may also set Odom/ImageDecimation=2 for odometry because the default parameters may not work well with 1080p resolution.

You can switch between StereoBM and StereoSGBM with parameter Stereo/DenseStrategy=0 or 1 respectively. OctoMap is not required if you just want to see a point cloud.

For the requested code update, is it mostly just the FOURCC('M', 'J', 'P', 'G') line to add?

For the calibration GUI, having controls of the camera could be indeed useful. I created a ticket about that.

cheers,
Mathieu